Disturbance-observer based prescribed-performance fuzzy sliding mode control for PMSM in electric vehicles

摘要

This paper investigates the problem of accurate speed tracking control of electric vehicles powered by permanent magnet synchronous motor (PMSM) under external load torque disturbance. Firstly, the dynamic model of PMSM is given, and the controller is designed based on backstepping control. Secondly, a second-order sliding mode differentiator is used to approximate the derivative of virtual control law and solve the problem of explosion of complexity. Considering the load disturbance of PMSM in the actual operation due to road roughness, a novel disturbance observer is proposed to the estimate the load disturbance. In addition, in order to achieve prescribed tracking error performance, the prescribed-performance control is proposed to guarantee the tracking error within a given prescribed boundary. Finally, the finite-time stability of the system is proved, the simulation and real-time implementation results verify the effectiveness of the designed controller.